On String Stable Control of Platoon of Automated Vehicles with Predecessor-successor Information Framework

For the constant distance spacing policy,the existing researches of the string stability focus on the single-predecessor information framework（SPIF） and predecessor-successor information framework（PSIF）.The research results demonstrated that the string stability could not be guaranteed with the SPIF,and then the PSIF was proposed to resolve this string instability.But the issue,whether the string stability can be guaranteed when applying the PSIF,is still controversial.Meanwhile,most of the previous researches on the string stability were conducted without consideration of the parasitic time delays and lags.In this paper,the practical longitudinal vehicle dynamics model is built with consideration of the parasitic time delays and lags existing in the actuators,sensors or the communication systems.Secondly,the detailed theoretical analysis of string stability in frequency domain is conducted to demonstrate that the classical linear control laws can not ensure the string stability when applying both the symmetrical PSIF（SPSIF） and asymmetrical PSIF（APSIF）.Thirdly,a control law,which adds the position and velocity information of the leading vehicle,is proposed to guarantee string stability for small/medium platoon,and the other control law,which adds the acceleration information of the controlled vehicle,is proposed to guarantee string stability for large platoon as well as small/medium platoon.Finally,the comparative simulation is conducted to confirm the conducted analysis and the proposed control laws.The conducted research completes the means to analyze the string stability in frequency domain,provides the parameters＇ reference for the design and implementation of the practical automatic following controllers,and improves the reliability and stability of the platoon of automatic vehicles.

Electrodynamics in Noninertial Reference Frames

The electrodynamics both in RF with prescribed law of motion and in FR with prescribed structure is considered. Parallel comparison for solutions in “uniformly accelerated” NRF M?ller system and in uniformly accelerated rigid NFR in the space of the constant curvature is carried out. The stationary criterion is formulated. On the basis of this criterion, one of the “eternal physical problems” concerning the field at uniformly accelerated charge motion is considered. The problems of electromagnetic wave spreading, Doppler’s effect and field transformations are discussed.

小行星探测器轨道计算的动力学研究

针对中国即将开展的小行星探测活动中面临的轨道计算动力学问题进行研究。分析了小行星探测器轨道计算的需求,并对小行星轨道计算中涉及的时空参考系进行了描述,然后对轨道计算所需考虑的动力学模型进行了讨论,并给出了各类摄动加速度的计算公式。最大的是太阳引力加速度,约为10^(-6)km/s^(2);最小的是小行星本体摄动加速度,约为10^(-12)~10^(-13)km/s^(2)。利用欧空局Rosetta探测器的实测数据对动力学模型精度进行了验证,结果表明4天弧段位置互差约15 m,速度互差约0.44 mm/s,动力学模型精度可靠。本研究可以为中国小行星探测活动轨道计算提供参考。

A NEW INVARIANT QUANTITY OF SPECIAL RELATIVITY AND THE MINIMAL MOVING MASS SPACE-TIME REFERENCE SYSTEM

Ⅰ. PROBLEM AND RESULTS In physics, in order to describe a motion mathematically one needs a space-time reference system ∑(x, y z; t). From the mathematical point of view, any two reference systems are equivalent, one only needs a transformation between the coordinates of the two systems.

Relativistic time transfer for a Mars lander： from Areocentric CoordinateTime to Barycentric Coordinate Time

As the second step of relativistic time transfer for a Mars lander,we investigate the transformation between Areocentric Coordinate Time（TCA）and Barycentric Coordinate Time（TCB）in the framework of IAU Resolutions.TCA is a local time scale for Mars,which is analogous to the Geocentric Coordinate Time（TCG）for Earth.This transformation has two parts:contributions associated with gravitational bodies and those depending on the position of the lander.After setting the instability of an onboard clock to 10;and considering that the uncertainty in time is about 3.2 microseconds after one Earth year,we find that the contributions of the Sun,Mars,Jupiter and Saturn in the leading term associated with these bodies can reach a level exceeding the threshold and must be taken into account.Other terms can be safely ignored in this transformation for a Mars lander.

The transformation between τ and TCB for deep space missions under IAU resolutions

For tracking spacecraft and performing radio science, the transformation between the proper time （τ） given by a clock carried onboard a spacecraft and the barycentric coordinate time （TCB） is investigated under IAU resolutions. In order to more clearly demonstrate manifestations of a physical model and improve computa- tional efficiency, an analytic approach is adopted. After numerical verification, it is confirmed that this method is adequate to describe a Mars orbiter during one year, and is particularly good at describing the influence from perturbing bodies. Further analyses demonstrate that there are two main effects in the transformation： the gravi- tational field of the Sun and the velocity of the spacecraft in the barycentric coordinate reference system. The combined contribution of these effects is at the level of a few sub-seconds.

Relativistic algorithm for time transfer in Mars missions under IAU Resolutions: an analytic approach

With tremendous advances in modem techniques, Einstein＇s general rela- tivity has become an inevitable part of deep space missions. We investigate the rela- tivistic algorithm for time transfer between the proper time - of the onboard clock and the Geocentric Coordinate Time, which extends some previous works by including the effects of propagation of electromagnetic signals. In order to evaluate the implicit algebraic equations and integrals in the model, we take an analytic approach to work out their approximate values. This analytic model might be used in an onboard com- puter because of its limited capability to perform calculations. Taking an orbiter like Yinghuo-1 as an example, we find that the contributions of the Sun, the ground station and the spacecraft dominate the outcomes of the relativistic corrections to the model.

A method for calculating probability of collision between space objects

A method is developed to calculate probability of collision. Based on geometric features of space objects during the encounter, it is reasonable to separate the radial orbital motions from those in the cross section for most encounter events that occur in a near-circular orbit. Therefore, the probability of collision caused by differences in both altitude of the orbit in the radial direction and the probability of collision caused by differences in arrival time in the cross section are calculated. The net probability of collision is expressed as an explicit expression by multiplying the above two components. Numerical cases are applied to test this method by comparing the results with the general method. The results indicate that this method is valid for most encounter events that occur in near-circular orbits.

Relativistic time transfer for a Mars lander:from proper time to Areocentric Coordinate Time

As the first step in relativistic time transfer for a Mars lander from its proper time to the time scale at the ground station, we investigate the transformation between proper time and Areocentric Coordinate Time （TCA） in the framework of IAU Resolutions. TCA is a local time scale for Mars, which is analogous to the Geocentric Coordinate Time （TCG） for Earth. This transformation contains two contributions： inter- hal and external. The internal contribution comes from the gravitational potential and the rotation of Mars. The external contribution is due to the gravitational fields of other bodies （except Mars） in the Solar System. When the （in）stability of an onboard clock is assumed to be at the level of 10-13, we find that the internal contribution is dominated by the gravitational potential of spherical Mars with necessary corrections asso- ciated with the height of the lander on the areoid, the dynamic form factor of Mars, the flattening of the areoid and the spin rate of Mars. For the external contribution, we find the gravitational effects from other bodies in the Solar System can be safely neglected in this case after calculating their maximum values.

双楼宇专变供电充电站负荷的时空双维调控建模

在碳减排和环境保护需求的推动下,电动汽车的普及速度加快,同时从时间和空间维度挖掘充电负荷的调控潜力可以有效地缓解配电网的扩容压力,基于此提出了双楼宇专变供电充电站负荷的时空特性双重调控方法。介绍了双楼宇专变供电充电站负荷时空特性的双重调控机理,利用双楼宇专变冗余容量和储能系统对充电站进行供电;结合储能充放电调控、充电桩和储能的双电源切换开关切换、充电桩功率实时调度3种调控方法,提出了充电站负荷的时空双维调控策略;提出了结合日前和实时2种时间尺度的充电站优化模型,以电动汽车服务率为优化目标建立储能充放电的日前优化模型,以变压器负荷标准差为目标建立双电源切换开关切换的实时优化模型,以各时段调度成本为目标建立充电桩功率的实时调度模型,通过多样化的调控手段提升充电站的经济性和安全性。通过算例仿真验证了所建模型的有效性。

一种新型公交系统车辆调度快速响应算法研究

近年出现的“智慧车列”等新型需求响应式公共交通系统,因其预约化、集约化、直达性等特点为城市交通出行提供了一种新的解决思路,也对车辆调度提出了新的和更高的要求。首先,提出一种面向新型需求响应式公共交通系统的车辆调度快速响应算法,作为车辆指派前的预分配算法;其次,引入“时-空-车-流”四维图的求解策略和基于移动时间窗的启发式方法来准确预测对应时空区间内的运能情况;最后,以上海市嘉定区沪宜公路实际路况为背景,通过快速响应算法预分配车辆资源,所得结果能够较好地适应新型需求响应式公共交通系统场景需要。

关于区域重力场变化基准的思考

研究区域重力场的变化必须建立一个具有时空意义的参考系统,也就是时空基准。由于变化始终是相对时空基准而言的,选择不同的时空基准就会产生不同的变化结果,因此,时空基准的合理性将直接影响区域重力场变化研究结果的正确性。通过研究基准的时空属性,分析现行时空基准的适用性需求及其优势和缺陷,根据区域重力网的实际情况选建相对合理的时空基准,可在区域重力场变化的分析研究中起到去伪存真的作用,改善目前区域重力场变化的分析结果与研究区的实际情况存在差异的现状。

时空参考系中的坐标和时间单位

针对目前时空参考系中关于坐标和时间单位的一些模糊认识,回顾了国际单位制SI与计量基准的定义及其发展,分析了国际计量局(BIPM)对测量单位SI米和SI秒的新定义,得出了在原时的单位采用SI秒时,各种时空参考系中的坐标量(坐标时和空间坐标)的单位均可认为是SI秒的结论。同时通过分析,明确了目前太阳系历表中使用的天文单位系统在时空参考系中的使用方法。

空间计量与脉冲星导航

以脉冲星导航技术为背景,讨论了空间计量理论中时间测量的关键问题。首先介绍了脉冲星导航的基本原理,和不同坐标系之间的时间尺度转换,比较了不同坐标系时间轴度规对脉冲星的脉冲轮廓测量的影响,说明只有太阳系质心坐标时能够正确测量脉冲轮廓。进而介绍了空间计量提出的两种时间统一的模式:地球卫星导航模式和脉冲星导航模式。以脉冲星导航为例,讨论了基于SI秒绝对定义和太阳系质心坐标时的广域时间统一的方法,给出用航天器原时坐标轴伸缩法修正多普勒效应的公式。最后提出在大尺度广域时空中构建新的守时系统—太阳系质心守时系统的设计思路。

列车-直线轨道空间耦合时变系统振动分析

建立了一种列车－直线轨道空间耦合振动分析模型，其中车辆（包括机车）表示成１９自由度多刚体系统模型，轨道离散成３０自由度空间轨道单元。以势能驻值原理和“对号入座”法则形成空间耦合时变系统的振动矩阵方程，以振动能量随机分析原理为基础，根据实测构架蛇行波随机模拟出各种速度下的构架人工蛇行波作为激振源，采用Ｗｉｌｓｏｎ－θ法求解各响应的时程曲线，计算结果与列车、轨道振动测试结果一致，首次得出了轨枕横向。

时空信息基础设施建设与服务标准体系框架构建

当前,时空信息基础设施建设与服务已越来越广泛地应用于国民经济、社会发展、国家安全和公众生活的各个方面,对推动国家公共服务领域的技术进步和产业升级发挥着重要作用。分析构建时空信息基础设施建设与服务标准体系框架的必要性及国内外状况,论述时空信息基础设施建设与服务标准体系框架的构建目标、构建原则、构建视角及层次结构;通过视角分析法,在我国现有地理空间技术应用的基础上,依据时空信息基础设施建设与服务的标准实际需求构建时空信息基础设施建设与服务标准体系框架的层级结构及类目界定,阐述其与现有测绘及地理信息标准体系的关系及未来发展趋势。以期为时空信息产业未来的进一步发展提供借鉴。

面向下一代运载火箭的综合电子系统集成技术

介绍了面向下一代运载火箭分布式模块化电子系统(DIMA)的集成技术及系统架构。针对下一代运载火箭复杂电子系统的特点,按照系统集成的路线,对系统设计目标、系统功能需求分析、系统抽象机制、系统综合技术等多方面进行论述。首先,根据电气系统功能获得系统需求,采用功能抽象和层次抽象定义系统抽象模型,提取出高内聚低耦合的原子功能模块,并对模块的属性、交换关系、时序约束关系等进行定义;然后采用可视化表征方法对系统进行深入分析,利用系统综合技术实现了从系统功能到硬件资源的映射,从而给出了集成控制单元和模块的种类;随后采用分时分区的设计理念对系统节点分区划分方案及容错架构进行了定义,并对分区操作系统的调度模型和交换式的数据交互网络进行了论述,最终给出了系统软硬件架构。

基于最小二乘支持向量机的怠速时间预测

汽车起停系统因其可以在汽车怠速时关闭发动机减少车辆怠速油耗而被大量应用。但在交通拥堵的实际工况下,在短时停车时使用自动起停功能反而会增加燃油消耗。针对这一问题使用基于时空学习的最小二乘支持向量机对怠速时长进行预测,在短时怠速时不关闭发动机。实验表明,本文提出的基于时空学习的最小二乘支持向量机能够对怠速时长进行预测,准确率在80%以上。将此方法应用于怠速起停控制,基于怠速预测的起停控制系统在早晚高峰节油2%左右,在平峰时节油0.2%。同时,高峰期减少50%以上的起停次数,平峰期减少15%以上的起停次数,能有效提升驾驶舒适性。

无人直升机多天线通信信道建模及性能分析

在单天线航空信道模型的基础上,提出了一种无人直升机多天线通信信道的统计模型.分析了信道的时延扩展、多普勒扩展和角度扩展特性,研究了机身对天线的遮挡效应及多天线信号之间的干涉问题.根据模型特点建立了一种准确有效的仿真模型,给出了延迟功率谱、空间相关性、多普勒功率谱和机身遮挡效应的仿真方法.利用该模型在途中飞行、任务区盘旋和起飞/降落这3种飞行状态下对单天线和多天线信道的误码性能进行了对比仿真分析,验证了差分空时编码在无人直升机多天线通信系统中的良好性能.该模型可用于无人直升机多天线通信系统的调制和编码技术研究.

10^(-12)秒精度激光测距问题的理论研究

随着空间大地测量技术观测精度的提高 ,需要激光测距理论模型适应目前和未来可预见的精度要求 .本文基于激光测距的基本原理 ,给出了太阳系质心参考系 (BRS)和地球质心参考系 (GRS)中的相对论激光测距的理论模型 ,对两种激光测距模型中有关引力时延的量级进行了估计 ,并给出了完整而自洽的时间尺度和时空坐标变换的理论公式 .根据最新的BRS和GRS系之间的时空坐标变换关系 ,在皮秒 (10 - 1 2 s)的精度下 ,推导出了在GRS中适合于所有激光测距问题的相对论模型 。